Robust Control Of Two-Wheeled Robot: Theoretical And Experimental Evaluation

In this paper, we survey some recent results related to the identification, design, and experimental evaluation of a robust control system intended for vertical stabilization and tracking of the desired horizontal trajectory of a two-wheeled robot.A single-input multi-output uncertainty model is utilized, obtained by an appropriate identification procedure.Results of the theoretical and experimental comparison of two controllers are presented: an LQG controller including a Kalman filter and a -controller ensuring robust stability and robust performance of the closed-loop system.Both controllers are embedded in a Raspberry Pi 4B microcontroller.The results of the closed-loop system experimental evaluation confirm the fulfillment of the design requirements.